40 results about "Gyrotheodolite" patented technology

The invention relates to an attitude testing apparatus and method based on an autocollimator. The apparatus mainly comprises the autocollimator, an optical hexahedron, a double-shaft electronic level meter and a pedestal with a leveling function. The method comprises the following steps: putting the attitude testing apparatus on a firm base, allowing the autocollimator to collimate a reflecting surface of an object, then collimating the optical hexahedron with an autocollimation gyro theodolite and measuring the included angle between the apparatus and a true north azimuth reference; starting the autocollimator for recording and retrieving of continuous data of the attitude of the reflecting surface of the object and starting the double-shaft electronic level meter for recording and retrieving of continuous data of horizontal attitude; and after completion of recording and retrieving of the data, processing the data of the autocollimator and the double-shaft electronic level meter by using a data processing method for the attitude testing apparatus so as to eventually obtain continuous changes of the attitude of the reflecting surface of the object in a geographic coordinate system, thereby meeting demands of continuous absolute measurement.

The invention belongs to the technical field of inertial navigation and relates to a calibration method for a ship-referenced inertial navigation system. The calibration method comprises the following steps: firstly, mounting a referenced inertial navigation device in a referenced inertial navigation cabin; mounting an auxiliary inertial navigation device on a deck with bow-and-stern line graduation marks; erecting a theodolite, and controlling the position of the theodolite to enable the theodolite to calibrate an azimuth reference mirror and bow-and-stern scribed lines on the auxiliary inertial navigation device; then connecting the auxiliary inertial navigation device, the referenced inertial navigation device and a data recording device; calibrating between the auxiliary inertial navigation and the bow-and-stern lines, as well as between the auxiliary inertial navigation device and a reference plane for data acquisition and installation error identification, finally, performing calibration compensation, and calculating to obtain calibrated navigation attitude values. By the adoption of the technical scheme, the referenced inertial navigation system can be successfully output onto a ship reference frame without special docking for a ship or north-seeking gyro theodolite equipment with relatively high price, and only the simple theodolite is required, so that the calibration cost can be lowered.

The invention discloses an automatic tracking proportional-integral-differential (PID) control system and an automatic tracking PID control method for a gyrotheodolite to perform coarse north finding, which belong to the fields of positioning and orientation of the gyrotheodolite. A non-torque tracking reversal point method is used for performing automatic coarse north finding. By the automatic tracking PID control system and the automatic tracking PID control method for the gyrotheodolite to perform coarse north finding provided by the invention, coarse north finding can be performed in the full scale 360-degree range of the gyrotheodolite; the influence of anthropic factors on the north-finding measurement of the gyrotheodolite is reduced; and the automation degree of the north-finding of the gyrotheodolite is improved.

The present invention is a new gyro theodolite locking device, relates to the field of engineering measuring detection, and particularly relates to a new gyro theodolite locking device, comprising a base, the base is fixedly connected with a lifting device, a transition seat is arranged above the lifting device, the transition seat is provided with a convex plate, the convex plate is connected with a locking cup, the locking cup is a carrying platform, the upper end surface of the locking cup is provided with a groove, the lifting device is connected with a motor by input and output gears which are engaged with each other, the top of the convex plate is connected with a locking switch by a bolt, and the locking switch is connected with the motor by a connection line. The new gyro theodolite locking device has a simple structure, the motor and the locking switch are used for control of rising or descending of a gyroscope sensitive portion, and the new gyro theodolite locking device is simple in operation, safe and reliable.

The invention discloses a gyrotheodolite integrating north-finding and south-finding function and a method of realizing the same. The gyrotheodolite comprises a gyro power and a gyro motor; the gyro power supplies three phase alternating voltage or a one path direct voltage to the gyro motor; the gyrotheodolite is characterized that: the gyrotheodolite further comprises a controlling unit for controlling the phase sequence change of the three phase alternating voltage or controlling the polarity change of the one path direct voltage. The method comprises changing the phase sequence or polarity of the supplying power of the gyro motor in the gyrotheodolite to realize the positive rotation and reversing switch of the gyro motor, thereby realizing the switch of the north-finding and south-finding function of the gyrotheodolite. When the gyrotheodolite produced or remodeled by the invention is located, the gyrotheodolite is not affected by measuring controlling point set and the surrounding environment, that is to say it is measured at each environment, which solves the long-standing problem of affecting the measuring work in orientation of the gyrotheodolite.

The invention relates to a combined measuring method based on a two-point center-alignment model and belongs to the technical field of engineering measurement. In the method, firstly a gyro theodolite is employed for accurately measuring a true north orientation [alpha]i of a connecting line between two orientation points in space, and then a laser tracker is employed for measuring coordinate values of the two orientation points in a leveling coordinate system and an orientation angle value [beta]1 of the connecting line between the two orientation points in the coordinate system, and then a conversion parameter (0,0,0,0,0,[partial]), and finally the laser tracker is employed for measuring the coordinate value of a target point of an launching vehicle so that the orientation of the connecting line of the target point in the coordinate system of an instrument is back-calculated and the true north orientation of the connecting line of the target point is calculated according to the conversion parameter. By means of the two-point center alignment coordinate system transfer model, coordinate systems of the laser tracker and the gyro theodolite are integrated so that the true north orientation of the model launching vehicle is directly measured and obtained under the coordinate system of the laser tracker. The method is simple and easy to carry out.

The invention relates to a combined measuring method based on a three-point resection model and belongs to the technical field of engineering measurement. In the method, firstly a laser tracker is employed for respectively measuring true north orientations of three orientation points, and then a gyro theodolite is employed for measuring a horizontal angle and a vertical angle of the three orientation points. Coordinate of an original point of a coordinate system of the gyro theodolite in the coordinate system of the laser tracker, and then a conversion parameter of the coordinate system of the laser tracker relative to a true north coordinate system can be calculated according to the calculated original point and the coordinate of any orientation point, and finally the laser tracker is employed for measuring the coordinate value of a target point of an launching vehicle so that the orientation of a connecting line of the target point in the coordinate system of an instrument is back-calculated and the true north orientation of the connecting line of the target point is calculated according to the conversion parameter. By means of the three-point resection model, coordinate systems of the laser tracker and the gyro theodolite are integrated so that the true north orientation of the model launching vehicle is directly measured and obtained under the coordinate system of the laser tracker. The method is simple and easy to carry out.

The invention provides a magnetic field direction measuring method which is used for calibrating an included angle relationship between a measured magnetic field direction and an earth coordinate system, and can realize calibration of an euler angle between a magnetic sensor and other sensors, a standard magnetic source magnetic field direction and the like. A set of standard positions of a magnetic measuring axis coordinate system and an earth coordinate system (or a celestial body coordinate system) is established, and a physical quantity tester for a vector magnetic sensor and an associatedearth coordinate system (or the celestial body coordinate system) is used for measuring associated physical quantity to construct a relationship with the earth coordinate system (or the celestial body coordinate system), and an included angle relationship between a measuring axis of the magnetic sensor and a measuring axis of a gyro theodolite or a star sensor and the like is measured by virtue of the relationship between earth magnetic fields and the earth coordinate system (or the celestial body coordinate system), so that the relationship between the coordinate system of the magnetic sensor and a coordinate axis euler angle of apparatuses such as the gyro theodolite or the star sensor is calibrated, and a relative relationship between a standard magnetic source coil magnetic axis and the earth coordinate system (or the celestial body coordinate system) is measured.

The invention relates to an electromagnetic damper. The damper comprises a damper stator, a damper rotor and a magnetic shielding cover. According to the electromagnetic damper, the damper rotor is installed on a gyro sensor device, the damper stator is installed at the corresponding position of the rotor, the stator is fixedly connected with a shell body, and an air-gap field is generated by electrifying a stator coil to generate electromagnetic attraction to the rotor, so that a magnetic core of the rotor moves towards the magnetic core of the stator to achieve vertical radial centering of the gyro sensor device. The problem that the gyro sensor device needs to be held and lowered again due to the fact that the swing range is excessive large, the jittering is serious, and the gyro sensordevice movement cursor trajectory is captured deviating from CCD in a lowering process of the gyro sensor device is solved. The electromagnetic damper has the advantages that the gyro sensor device can be lowered successfully at a time to speed up north seeking.

The invention provides a north orientation reference device for self calibrating. A pair of distributed north orientation foundation seats are arranged on a foundation plane; collimators are mounted on the distributed north orientation foundation seats through a collimator adjusting mechanism; a reference plane mirror adjusting mechanism and a gyro theodolite mounting adjusting seat are arranged between the two distributed north orientation foundation seats. As the north orientation reference device adopts the reference plane mirror adjusting mechanism as a main north orientation reference, and adopts the center of an infinite target cross reticle produced through the two symmetrically distributed collimators as an auxiliary north orientation reference, in combination with the gyro theodolite mounting adjusting seat, the north orientation reference device can not only realize calibration of different models of gyro theodolites, but also realize mutual calibration of the north orientation references through the mutual comparison of the numerical values of the main reference and the auxiliary reference during north orientation measurement, and effectively avoids north orientation reference movement caused by misoperation and possible foundation deformation. The north orientation reference device is suitable for serving as a north orientation reference device for self calibrating.

The invention relates to a method and system for calibrating the parallelism of an incongruous turning light pipe based on double-mirror splicing. The method comprises the following steps: step 1, setting a system; step 2, adjusting azimuth angles and pitch angles of reflectors of the first plane mirror device and the second plane mirror device through the same high-precision gyro theodolite respectively, so that north orientation values L and pitch values I of the two reflectors are the same, and double-mirror splicing is realized; step 3, setting a to-be-measured incongruous reflex light tube, using the high-precision gyro theodolite in the step 2 to measure an orientation value L1 and a pitching value I1 of the reflector of the second plane reflector device, keeping the position of the high-precision gyro theodolite unchanged, rotating a sighting part, measuring an azimuth value L2 and a pitching value I2 of a reflector of the first plane reflector device by using a high-precision gyro theodolite through the incongruous reflex light tube to be measured, and calculating an azimuth error delta L and a pitching error delta I according to a formula 1: delta L = L1-L2-180 degrees and a formula 2: delta I = I1 + I2-2ia-180 degrees.

The invention discloses a gyro north finder field calibration device. Supporting regulating feet are fixedly arranged at the bottom of a main body seat; a datum mounting base is arranged at the upperpart of the main body seat; a parallel light pipe is mounted on the datum mounting base by a parallel light pipe regulating device; the parallel light pipe is mounted on a box body with a plane mirrorand a north datum lead-out block; a gyro theodolite is mounted at one side of the datum mounting base by a regulating supporting frame. According to the invention, the gyro theodolite is adopted to determine a north datum for the parallel light pipe, and thus, the gyro north finder field calibration device is convenient to operate and high in accuracy; the gyro theodolite and the parallel light pipe are of an integral structure, and thus, the gyro north finder field calibration device has the advantage of convenience for carrying and can implement field calibration of a gyro north finder; thenorth datum lead-out block leads out a plane and the north is determined for once by the gyro theodolite, calibration of other gyro north finders can be implemented, so that the measurement process is simplified, and detection efficiency is improved. The gyro north finder field calibration device is suitable to use as a gyro north finder field calibration device.